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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CALICO_TYPEDEFS_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CALICO_TYPEDEFS_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;Eigen/Dense&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>Eigen {</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">using</span> Vector2 = Matrix&lt;T, 2, 1&gt;;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">using</span> Vector3 = Matrix&lt;T, 3, 1&gt;;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">using</span> Vector4 = Matrix&lt;T, 4, 1&gt;;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">using</span> VectorX = Matrix&lt;T, Dynamic, 1&gt;;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">using</span> MatrixX = Matrix&lt;T, Dynamic, Dynamic&gt;;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">using</span> Matrix3 = Matrix&lt;T, 3, 3&gt;;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N&gt;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">using</span> Vector = Matrix&lt;T, N, 1&gt;;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;} <span class="comment">// namespace Eigen</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecalico.html">calico</a> {</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html">   39</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1Pose3.html">Pose3</a> {</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <a class="code" href="classcalico_1_1Pose3.html">Pose3</a>() {</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    q_.setIdentity();</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    t_.setZero();</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  }</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classcalico_1_1Pose3.html">Pose3</a>(<span class="keyword">const</span> Eigen::Quaternion&lt;T&gt;&amp; q,</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; t)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    : q_(q), t_(t) {}</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  </div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">   52</a></span>&#160;  Eigen::Quaternion&lt;T&gt;&amp; <a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>() {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">return</span> q_;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  }</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">const</span> Eigen::Quaternion&lt;T&gt;&amp; <a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordflow">return</span> q_;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">   60</a></span>&#160;  Eigen::Vector3&lt;T&gt;&amp; <a class="code" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">translation</a>() {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">return</span> t_;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  }</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; <a class="code" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">translation</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordflow">return</span> t_;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#ae6d055b87e1fbab123d462ce3a909813">   69</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1Pose3.html#ae6d055b87e1fbab123d462ce3a909813">SetRotation</a>(<span class="keyword">const</span> Eigen::Vector4&lt;T&gt;&amp; q) {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">const</span> Eigen::Vector4&lt;T&gt; qn = q.normalized();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    q_.w() = qn(0);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    q_.x() = qn(1);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    q_.y() = qn(2);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    q_.z() = qn(3);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#af8a2c9c1a0770632078de7bd9598153d">   79</a></span>&#160;  Eigen::Vector4&lt;T&gt; <a class="code" href="classcalico_1_1Pose3.html#af8a2c9c1a0770632078de7bd9598153d">GetRotation</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">return</span> Eigen::Vector4&lt;T&gt;(q_.w(), q_.x(), q_.y(), q_.z());</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#add435d0528c7c6289bb305652b6e8d14">   84</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1Pose3.html#add435d0528c7c6289bb305652b6e8d14">SetTranslation</a>(<span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; t) {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    t_ = t;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#a60a3f483244ced4a3fb1b44cffee4504">   89</a></span>&#160;  Eigen::Vector3&lt;T&gt; <a class="code" href="classcalico_1_1Pose3.html#a60a3f483244ced4a3fb1b44cffee4504">GetTranslation</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">return</span> t_;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#a964eb5b89fed180949a0b4c1073afbca">   99</a></span>&#160;  <a class="code" href="classcalico_1_1Pose3.html">Pose3</a> <a class="code" href="classcalico_1_1Pose3.html#a964eb5b89fed180949a0b4c1073afbca">operator*</a>(<span class="keyword">const</span> <a class="code" href="classcalico_1_1Pose3.html">Pose3&lt;T&gt;</a>&amp; T_b_a)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="comment">// this = T_c_b</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keyword">const</span> Eigen::Quaternion&lt;T&gt;&amp; q_c_b = this-&gt;<a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>();</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keyword">const</span> Eigen::Quaternion&lt;T&gt;&amp; q_b_a = T_b_a.<a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; t_c_b = this-&gt;<a class="code" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">translation</a>();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; t_b_a = T_b_a.<a class="code" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">translation</a>();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">const</span> Eigen::Quaternion&lt;T&gt; q_c_a = q_c_b * q_b_a;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keyword">const</span> Eigen::Vector3&lt;T&gt; t_c_a = q_c_b * t_b_a + t_c_b;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classcalico_1_1Pose3.html">Pose3</a>(q_c_a, t_c_a);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#a0a760caa8c9cdabfd0967d533a5a855d">  116</a></span>&#160;  Eigen::Vector3&lt;T&gt; <a class="code" href="classcalico_1_1Pose3.html#a0a760caa8c9cdabfd0967d533a5a855d">operator*</a>(<span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; p)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">return</span> this-&gt;<a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>()*p + this-&gt;<a class="code" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">translation</a>();</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#a6a9bb21c19caa289b5a5ecb4de676313">  125</a></span>&#160;  <a class="code" href="classcalico_1_1Pose3.html">Pose3&lt;T&gt;</a> <a class="code" href="classcalico_1_1Pose3.html#a6a9bb21c19caa289b5a5ecb4de676313">inverse</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keyword">const</span> Eigen::Quaternion&lt;T&gt; q_inv = this-&gt;<a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>().conjugate();</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">const</span> Eigen::Vector3&lt;T&gt; t_inv = -(q_inv * this-&gt;<a class="code" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">translation</a>());</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classcalico_1_1Pose3.html">Pose3</a>(q_inv, t_inv);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#aa6483bfcfb4dd1daa165d8c6532e095b">  132</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcalico_1_1Pose3.html#aa6483bfcfb4dd1daa165d8c6532e095b">isApprox</a>(<span class="keyword">const</span> <a class="code" href="classcalico_1_1Pose3.html">Pose3&lt;T&gt;</a>&amp; pose)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">return</span> (pose.<a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>().isApprox(q_) &amp;&amp; pose.<a class="code" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">translation</a>().isApprox(t_));</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classcalico_1_1Pose3.html#adb9902f9f0af67b1b0a0f6940f423342">  142</a></span>&#160;  <span class="keyword">friend</span> std::ostream&amp; <a class="code" href="classcalico_1_1Pose3.html#adb9902f9f0af67b1b0a0f6940f423342">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code" href="classcalico_1_1Pose3.html">Pose3&lt;T&gt;</a>&amp; pose) {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    os</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      &lt;&lt; <span class="stringliteral">&quot;q: &quot;</span> &lt;&lt; pose.<a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>().w() &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; pose.<a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>().x() &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      pose.<a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>().y() &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; pose.<a class="code" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a>().z() &lt;&lt;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="stringliteral">&quot;, t: &quot;</span> &lt;&lt; pose.<a class="code" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">translation</a>().transpose();</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">return</span> os;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  Eigen::Quaternion&lt;T&gt; q_;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  Eigen::Vector3&lt;T&gt; t_;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;};</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">using</span> Pose3d = Pose3&lt;double&gt;;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;} <span class="comment">// namespace calico</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// CALICO_TYPEDEFS_H_</span></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html"><div class="ttname"><a href="classcalico_1_1Pose3.html">calico::Pose3</a></div><div class="ttdef"><b>Definition:</b> typedefs.h:39</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_a0a760caa8c9cdabfd0967d533a5a855d"><div class="ttname"><a href="classcalico_1_1Pose3.html#a0a760caa8c9cdabfd0967d533a5a855d">calico::Pose3::operator*</a></div><div class="ttdeci">Eigen::Vector3&lt; T &gt; operator*(const Eigen::Vector3&lt; T &gt; &amp;p) const</div><div class="ttdef"><b>Definition:</b> typedefs.h:116</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_a60a3f483244ced4a3fb1b44cffee4504"><div class="ttname"><a href="classcalico_1_1Pose3.html#a60a3f483244ced4a3fb1b44cffee4504">calico::Pose3::GetTranslation</a></div><div class="ttdeci">Eigen::Vector3&lt; T &gt; GetTranslation() const</div><div class="ttdoc">Translation getter for python bindings.</div><div class="ttdef"><b>Definition:</b> typedefs.h:89</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_a6199524fb9d92c656e8d9f63559c2708"><div class="ttname"><a href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">calico::Pose3::translation</a></div><div class="ttdeci">Eigen::Vector3&lt; T &gt; &amp; translation()</div><div class="ttdoc">Translation accessor.</div><div class="ttdef"><b>Definition:</b> typedefs.h:60</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_a6a9bb21c19caa289b5a5ecb4de676313"><div class="ttname"><a href="classcalico_1_1Pose3.html#a6a9bb21c19caa289b5a5ecb4de676313">calico::Pose3::inverse</a></div><div class="ttdeci">Pose3&lt; T &gt; inverse() const</div><div class="ttdef"><b>Definition:</b> typedefs.h:125</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_a964eb5b89fed180949a0b4c1073afbca"><div class="ttname"><a href="classcalico_1_1Pose3.html#a964eb5b89fed180949a0b4c1073afbca">calico::Pose3::operator*</a></div><div class="ttdeci">Pose3 operator*(const Pose3&lt; T &gt; &amp;T_b_a) const</div><div class="ttdef"><b>Definition:</b> typedefs.h:99</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_aa6483bfcfb4dd1daa165d8c6532e095b"><div class="ttname"><a href="classcalico_1_1Pose3.html#aa6483bfcfb4dd1daa165d8c6532e095b">calico::Pose3::isApprox</a></div><div class="ttdeci">bool isApprox(const Pose3&lt; T &gt; &amp;pose) const</div><div class="ttdoc">Convenience method for checking if two poses are close in value.</div><div class="ttdef"><b>Definition:</b> typedefs.h:132</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_ab855f93c267acba1f5875b4668cded48"><div class="ttname"><a href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">calico::Pose3::rotation</a></div><div class="ttdeci">Eigen::Quaternion&lt; T &gt; &amp; rotation()</div><div class="ttdoc">Rotation accessor.</div><div class="ttdef"><b>Definition:</b> typedefs.h:52</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_adb9902f9f0af67b1b0a0f6940f423342"><div class="ttname"><a href="classcalico_1_1Pose3.html#adb9902f9f0af67b1b0a0f6940f423342">calico::Pose3::operator&lt;&lt;</a></div><div class="ttdeci">friend std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const Pose3&lt; T &gt; &amp;pose)</div><div class="ttdef"><b>Definition:</b> typedefs.h:142</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_add435d0528c7c6289bb305652b6e8d14"><div class="ttname"><a href="classcalico_1_1Pose3.html#add435d0528c7c6289bb305652b6e8d14">calico::Pose3::SetTranslation</a></div><div class="ttdeci">void SetTranslation(const Eigen::Vector3&lt; T &gt; &amp;t)</div><div class="ttdoc">Translation setter for python bindings.</div><div class="ttdef"><b>Definition:</b> typedefs.h:84</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_ae6d055b87e1fbab123d462ce3a909813"><div class="ttname"><a href="classcalico_1_1Pose3.html#ae6d055b87e1fbab123d462ce3a909813">calico::Pose3::SetRotation</a></div><div class="ttdeci">void SetRotation(const Eigen::Vector4&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> typedefs.h:69</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html_af8a2c9c1a0770632078de7bd9598153d"><div class="ttname"><a href="classcalico_1_1Pose3.html#af8a2c9c1a0770632078de7bd9598153d">calico::Pose3::GetRotation</a></div><div class="ttdeci">Eigen::Vector4&lt; T &gt; GetRotation() const</div><div class="ttdef"><b>Definition:</b> typedefs.h:79</div></div>
<div class="ttc" id="anamespacecalico_html"><div class="ttname"><a href="namespacecalico.html">calico</a></div><div class="ttdoc">Primary calico namespace.</div><div class="ttdef"><b>Definition:</b> __init__.py:1</div></div>
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